Auto Tuning of Decentralized PI Controllers for a Non-Square Unstable MIMO System

For a non-square unstable multi input and multi output system, simultaneous relay auto tuning method is applied to get the PI controller parameter for decentralized control system. The higher order harmonics are considered in analyzing the sustained oscillation in the outputs. The performance of the decentralized control system is analyzed by simulation on a 3 input and 2 output system using MATLAB Simulink.